CN109732588A - A kind of soft robot that can be helix-deformed - Google Patents
A kind of soft robot that can be helix-deformed Download PDFInfo
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- CN109732588A CN109732588A CN201910051147.6A CN201910051147A CN109732588A CN 109732588 A CN109732588 A CN 109732588A CN 201910051147 A CN201910051147 A CN 201910051147A CN 109732588 A CN109732588 A CN 109732588A
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- main body
- body sleeve
- control line
- helix
- deformed
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Abstract
The present invention relates to robotic technology fields, more particularly to a kind of soft robot, more particularly to a kind of soft robot that can be helix-deformed, including main body sleeve, outer surface deformation mechanism, stroke control line, Deformation control line and gas chamber, the front end of the main body sleeve is closed, and the rear end of main body sleeve is fixedly connected with gas chamber；The outer surface deformation mechanism is fixedly connected on the cylinder face of main body sleeve；The stroke control line is located at main body sleeve inner, and one end of stroke control line is fixedly connected with the front end of main body sleeve inner, and the other end of stroke control line is fixedly connected in gas chamber；The Deformation control line is located at main body cartridge exterior, and one end of Deformation control line is fixedly connected with the front end of main body cartridge exterior, and the other end of Deformation control line is pierced by outer surface deformation mechanism.The present invention is controlled using line, gas double drive, long away from movement and helix-deformed, good environmental adaptability to realize, strong flexibility, and structure is simply easy to manufacture.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of soft robot, it can spiral more particularly to one kind
The soft robot of deformation.
Background technique
In real life, there are a kind of enclosure spaces, and external channel scale is smaller, mostly small gaps；And it is internal
Space scale is larger.People need in the case where not destroying external structure to its inside processing.Specific example such as geological prospecting,
The cleaning of the special constructions such as rescue and relief work, blind hole in natural calamity ruins, obstacle detouring such as arrest at the work.
For the mission requirements under extreme scenes, robot is generallyd use instead of artificial mode to complete.Currently, rigidity
Robot is widely used in multiple fields, but that there are still environmental suitabilities is poor, flexibility is insufficient, structure is complicated
Problem is especially difficult to adapt to above-mentioned mutative scale work.
Summary of the invention
The object of the present invention is to provide a kind of soft robots that can be helix-deformed, are controlled using line, gas double drive, with reality
It now grows away from movement and helix-deformed, good environmental adaptability, strong flexibility, structure is simply easy to manufacture.
The purpose of the present invention is achieved through the following technical solutions:
A kind of soft robot that can be helix-deformed, including main body sleeve, outer surface deformation mechanism, stroke control line, change
Shape control line and gas chamber, the front end closing of the main body sleeve, the rear end of main body sleeve is fixedly connected with gas chamber；The outer surface
Deformation mechanism is fixedly connected on the cylinder face of main body sleeve；The stroke control line is located at main body sleeve inner, stroke control line
One end be fixedly connected with the front end of main body sleeve inner, the other end of stroke control line is fixedly connected in gas chamber；The change
Shape control line is located at main body cartridge exterior, and one end of Deformation control line is fixedly connected with the front end of main body cartridge exterior, deformation control
The other end of line processed is pierced by outer surface deformation mechanism.
The main body sleeve is in cylindrical, and main body sleeve is made of flexiplast.
The outer surface deformation mechanism is arranged by several short tubes；Each short tube is axially opposing, and interval is set between each short tube
It sets, opposite there are certain distances；Each short tube is all fixedly connected on the cylinder face of main body sleeve；The middle-end of the Deformation control line is worn
Cross the inside of each short tube.
The short tube is hard short tube.
The axis of several short tubes inside the outer surface deformation mechanism is connected to form one along main body sleeve outer surface disk
Rotation and on helix, which extends to main body barrel forward end.
The gas chamber includes seal box, axis, handle, enters gas interface and outlet interface；The middle-end of the axis is rotatably assorted company
It connects on seal box, the inner end of axis is located in seal box, and stroke control line is fixed and is wrapped on axis；The outer end of the axis is fixed
Connect handle；One end of the seal box is equipped with into gas interface, enters gas interface and air pump is tightly connected；The seal box it is another
End is equipped with outlet interface, and outlet interface is connect with the back-end sealing of main body sleeve, and glue is used between outlet interface and main body sleeve
The connection type of knot or other forms guarantees favorable sealing property.
Mechanical seal is used at the bearing that the axis is connect with seal box.
The invention has the benefit that a kind of soft robot that can be helix-deformed of the invention, using line, gas double drive
Control is grown with realizing away from movement and helix-deformed, good environmental adaptability, strong flexibility, and structure is simply easy to manufacture.This hair
Bright soft robot bulk material has flexibility, can adapt to microscale channel by contraction distortion, can also be by curling deformation
Large scale functional structure is formed, provides good solution route to make up the defect of conventional rigid robot.
The present invention has the advantages that
1. possessing main body sleeve flexible, it is suitable for microscale channel；
2. possessing larger working space, stroke length is determined by the length of main body sleeve；
3. it can be driven by line and complete helix-deformed and recycling, to adapt to possible job requirements, operation is more just
It is prompt.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is inside subject sleeve curls inward status diagram of the present invention；
Fig. 3 is the schematic diagram that the present invention carries out helix-deformed state；
Fig. 4 is the arrangement schematic diagram of internal end of travel control line and Deformation control line of the present invention；
Fig. 5 is the schematic diagram of outer faces deformation mechanism of the present invention；
Fig. 6 is the structural schematic diagram inside inner plenum of the present invention.
In figure: main body sleeve 1；Outer surface deformation mechanism 2；Short tube 2-1；Stroke control line 3；Deformation control line 4；Gas chamber 5；
Axis 5-1；Handle 5-2；Enter gas interface 5-3；Outlet interface 5-4.
Specific embodiment
Invention is further described in detail by 1-6 with reference to the accompanying drawing.
Specific embodiment 1:
As shown in figures 1 to 6, a kind of soft robot that can be helix-deformed, including main body sleeve 1, outer surface deformation mechanism 2,
Stroke control line 3, Deformation control line 4 and gas chamber 5, the front end closing of the main body sleeve 1, the rear end of main body sleeve 1 and gas chamber 5
It is fixedly connected；The outer surface deformation mechanism 2 is fixedly connected on the cylinder face of main body sleeve 1；The stroke control line 3 is located at master
Inside body sleeve 1, one end of stroke control line 3 is fixedly connected with the front end inside main body sleeve 1, stroke control line 3 it is another
End is fixedly connected in gas chamber 5；The Deformation control line 4 is located at outside main body sleeve 1, one end of Deformation control line 4 and main body
Front end outside sleeve 1 is fixedly connected, and the other end of Deformation control line 4 is pierced by outer surface deformation mechanism 2.One kind of the invention can
Helix-deformed soft robot, main body sleeve 1 is involute under receiving state, when in use, is filled by air pump to the inside of gas chamber 5
Gas, the gas inside gas chamber 5 are filled with to 1 inside of main body sleeve, and the inner wrap portion of main body sleeve 1 gradually turns up, main body sleeve 1
Length gradually increase, at this time by the folding and unfolding of operational stroke control line 3 can real-time control main body sleeve 1 stroke；Deformation
Control line 4 is used to cooperate control main body sleeve 1 to deform with outer surface deformation mechanism 2.
Specific embodiment 2:
As shown in figures 1 to 6, the main body sleeve 1 is in cylindrical, and main body sleeve 1 is made of flexiplast.The main body
Sleeve 1 is made of flexiplast, flexible preferable, is suitable for microscale channel.
Specific embodiment 3:
As shown in figures 1 to 6, the outer surface deformation mechanism 2 is arranged by several short tube 2-1；Each short tube 2-1 axial direction phase
It is right, setting is spaced between each short tube 2-1；Each short tube 2-1 is all fixedly connected on the cylinder face of main body sleeve 1；The Deformation control
The middle-end of line 4 passes through the inside of each short tube 2-1.
The short tube 2-1 is hard short tube.
The axis of several short tube 2-1 inside the outer surface deformation mechanism 2 is connected to form one along 1 appearance of main body sleeve
The helix that face spirals up, 1 rear end of helix autonomous agent sleeve extend to 1 front end of main body sleeve.
The Deformation control line 4 is located at outside main body sleeve 1, sequentially passes through each short tube 2- of outer surface deformation mechanism 2
1, it is connected in front end with main body sleeve 1；Deformation control line 4 is twitched under 1 inflated condition of main body sleeve will force each short tube 2-1
It is close, so that it is helix-deformed to generate main body sleeve 1.
Specific embodiment 4:
As shown in figures 1 to 6, the gas chamber 5 includes seal box, axis 5-1, handle 5-2, enters gas interface 5-3 and outlet interface 5-
4；The middle-end of the axis 5-1, which is rotatably assorted, to be connected on seal box, and the inner end of axis 5-1 is located in seal box, and stroke control line 3 is solid
Determine and is wrapped on axis 5-1；The outer end of the axis 5-1 is fixedly connected with handle 5-2；One end of the seal box is equipped with into gas interface
5-3, enters gas interface 5-3 and air pump is tightly connected；The other end of the seal box be equipped with outlet interface 5-4, outlet interface 5-4 with
The back-end sealing of main body sleeve 1 connects.The gas chamber 5 when in use, enters gas interface 5-3 and air pump and is tightly connected, and air pump can be with
By entering gas interface 5-3 to seal box inner inflatable, seal box passes through outlet interface 5-4 to 1 inner inflatable of main body sleeve, so that
The inner wrap portion of main body sleeve 1 gradually turns up, and the length of main body sleeve 1 gradually increases, and passes through operating handle 5-2 rotation axis at this time
5-1 to the winding of stroke control line 3 or is loosened by axis 5-1 realization, and then realizes the real-time control to 1 stroke of main body sleeve.
Mechanical seal is used at the bearing that the axis 5-1 is connect with seal box.Mechanical seal be it is in the prior art move it is close
Envelope prevents that gas leak phenomenon occurs when carrying out the winding of stroke control line 3 by handle 5-2 rotation axis 5-1.
The operation principle of the present invention is that: a kind of soft robot that can be helix-deformed of the invention, main body under receiving state
Sleeve 1 is involute, and when in use, by air pump to the inner inflatable of gas chamber 5, the gas inside gas chamber 5 is filled with to main body sleeve 1
Behind portion, the inner wrap portion of main body sleeve 1 gradually turns up, and the length of main body sleeve 1 gradually increases, and is controlled at this time by operational stroke
The folding and unfolding of line 3 can real-time control main body sleeve 1 stroke；Deformation control line 4 is used to cooperate with outer surface deformation mechanism 2 and control
Main body sleeve 1 deforms；The main body sleeve 1 is made of flexiplast, flexible preferable, is suitable for microscale channel；The change
Shape control line 4 is located at outside main body sleeve 1, each short tube 2-1 of outer surface deformation mechanism 2 is sequentially passed through, in front end and main body
Sleeve 1 is connected；Deformation control line 4 is twitched under 1 inflated condition of main body sleeve will force each short tube 2-1 close, to make to lead
Body sleeve 1 generates helix-deformed；The gas chamber 5 when in use, enters gas interface 5-3 and air pump is tightly connected, air pump can pass through
Enter gas interface 5-3 to seal box inner inflatable, seal box passes through outlet interface 5-4 to 1 inner inflatable of main body sleeve, so that main body
The inner wrap portion of sleeve 1 gradually turns up, and the length of main body sleeve 1 gradually increases, and passes through operating handle 5-2 rotation axis 5-1 at this time,
To the winding of stroke control line 3 or loosened by axis 5-1 realization, and then realizes the real-time control to 1 stroke of main body sleeve.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (7)
1. the soft robot that one kind can be helix-deformed, including main body sleeve (1), outer surface deformation mechanism (2), stroke control line
(3), Deformation control line (4) and gas chamber (5), it is characterised in that: the front end of the main body sleeve (1) is closed, main body sleeve (1)
Rear end is fixedly connected with gas chamber (5)；The outer surface deformation mechanism (2) is fixedly connected on the cylinder face of main body sleeve (1)；It is described
Stroke control line (3) is located at main body sleeve (1) inside, and front end that one end and main body sleeve (1) of stroke control line (3) are internal is solid
Fixed connection, the other end of stroke control line (3) are fixedly connected in gas chamber (5)；The Deformation control line (4) is located at main body sleeve
(1) external, one end of Deformation control line (4) is fixedly connected with the front end outside main body sleeve (1), Deformation control line (4) it is another
One end is pierced by outer surface deformation mechanism (2).
2. the soft robot that one kind according to claim 1 can be helix-deformed, it is characterised in that: the main body sleeve
It (1) is in cylindrical, main body sleeve (1) is made of flexiplast.
3. the soft robot that one kind according to claim 1 can be helix-deformed, it is characterised in that: the outer surface deformation
Mechanism (2) is arranged by several short tubes (2-1)；Each short tube (2-1) is axially opposing, and setting is spaced between each short tube (2-1)；Respectively
Short tube (2-1) is all fixedly connected on the cylinder face of main body sleeve (1)；The middle-end of the Deformation control line (4) passes through each short tube (2-
1) inside.
4. the soft robot that one kind according to claim 3 can be helix-deformed, it is characterised in that: the short tube (2-1)
For hard short tube.
5. the soft robot that one kind according to claim 3 can be helix-deformed, it is characterised in that: the outer surface deformation
The axis of the internal several short tubes (2-1) of mechanism (2) is connected to form the spiral to spiral up along main body sleeve (1) outer surface
Line, helix autonomous agent sleeve (1) rear end extend to main body sleeve (1) front end.
6. the soft robot that one kind according to claim 1 can be helix-deformed, it is characterised in that: gas chamber (5) packet
It includes seal box, axis (5-1), handle (5-2), enter gas interface (5-3) and outlet interface (5-4)；The middle-end of the axis (5-1) rotates
It is cooperatively connected on seal box, the inner end of axis (5-1) is located in seal box, and stroke control line (3) is fixed and is wrapped in axis (5-1)
On；The outer end of the axis (5-1) is fixedly connected with handle (5-2)；One end of the seal box is equipped with into gas interface (5-3), enters gas
Interface (5-3) and air pump are tightly connected；The other end of the seal box is equipped with outlet interface (5-4), outlet interface (5-4) and master
The back-end sealing of body sleeve (1) connects.
7. the soft robot that one kind according to claim 6 can be helix-deformed, it is characterised in that: the axis (5-1) with
Mechanical seal is used at the bearing of seal box connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910051147.6A CN109732588B (en) | 2019-01-18 | 2019-01-18 | Soft robot capable of spirally deforming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910051147.6A CN109732588B (en) | 2019-01-18 | 2019-01-18 | Soft robot capable of spirally deforming |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109732588A true CN109732588A (en) | 2019-05-10 |
| CN109732588B CN109732588B (en) | 2020-10-09 |
Family
ID=66365361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910051147.6A Active CN109732588B (en) | 2019-01-18 | 2019-01-18 | Soft robot capable of spirally deforming |
Country Status (1)
| Country | Link |
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| CN (1) | CN109732588B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270986A (en) * | 2019-06-20 | 2019-09-24 | 清华大学深圳研究生院 | A kind of pneumatic software actuator and its manufacturing method |
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| CN104691782A (en) * | 2015-03-28 | 2015-06-10 | 哈尔滨工业大学 | Multiple-pipe-combined helical aerated capturing arm |
| US20150343649A1 (en) * | 2014-05-28 | 2015-12-03 | Richard Galinson | Tentacle mechanism |
| CN108638091A (en) * | 2018-08-01 | 2018-10-12 | 无锡盛雅生物科技有限公司佛山分公司 | Roller type soft robot |
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2019
- 2019-01-18 CN CN201910051147.6A patent/CN109732588B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850551A (en) * | 2010-05-29 | 2010-10-06 | 北华大学 | Disomic artificial muscle |
| CN103742755A (en) * | 2013-12-17 | 2014-04-23 | 西南石油大学 | Soft caterpillar belt type pipeline robot |
| CN103786169A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic rotation stretching type four-spiral flexible joint |
| US20150343649A1 (en) * | 2014-05-28 | 2015-12-03 | Richard Galinson | Tentacle mechanism |
| CN104691782A (en) * | 2015-03-28 | 2015-06-10 | 哈尔滨工业大学 | Multiple-pipe-combined helical aerated capturing arm |
| CN108638091A (en) * | 2018-08-01 | 2018-10-12 | 无锡盛雅生物科技有限公司佛山分公司 | Roller type soft robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270986A (en) * | 2019-06-20 | 2019-09-24 | 清华大学深圳研究生院 | A kind of pneumatic software actuator and its manufacturing method |
| CN110270986B (en) * | 2019-06-20 | 2021-02-09 | 清华大学深圳研究生院 | Pneumatic soft actuator and manufacturing method thereof |
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| Publication number | Publication date |
|---|---|
| CN109732588B (en) | 2020-10-09 |
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